Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance
Reliable and intuitive teleoperation of LineScout: a mobile robot for live transmission line maintenance
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DOI：
10.1109/iros.2009.5354819
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发表时间：
2009-10
期刊：
影响因子：
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通讯作者：
N. Pouliot;Pierre Latulippe;S. Montambault
中科院分区：
文献类型：
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作者：
N. Pouliot;Pierre Latulippe;S. Montambault
电力线路巡检和维护是机器人技术的一个缓慢但肯定会出现的领域。本文介绍了在LineScout技术，第一个遥控越障系统，已进展到实际执行非常高的电压电力线作业的阶段之一，实施的控制方案。在简要概述硬件和软件架构之后，提出了与实现可靠性、鲁棒性和易于操作的目标相关的关键挑战。通过视觉反馈协调控制跨越障碍物所需的所有电机需要一个连贯的策略，一个有效的图形用户界面和规则，以确保安全，可预测的操作。此外，还引入了自动重量平衡等其他功能，以减轻工作量，让操作员专注于检查电力线路组件。开放式架构被认为是渐进式改进。成功地使电力线机器人完全自主所需的功能也进行了讨论。
Power line inspection and maintenance is a slowly but surely emerging field for robotics. This paper describes the control scheme implemented in LineScout technology, one of the first teleoperated obstacle crossing systems that has progressed to the stage of actually performing very-high-voltage power line jobs. Following a brief overview of the hardware and software architecture, key challenges associated with the objectives of achieving reliability, robustness and ease of operation are presented. The coordinated control through visual feedback of all motors needed for obstacle crossing calls for a coherent strategy, an effective graphical user interface and rules to ensure safe, predictable operation. Other features such as automatic weight balancing are introduced to lighten the workload and let the operator concentrate on inspecting power line components. Open architecture was considered for progressive improvements. The features required to succeed in making power line robots fully autonomous are also discussed.